diff --git a/Makefile.ac b/Makefile.ac
index 0f3132a51e..9e51eabf41 100644
--- a/Makefile.ac
+++ b/Makefile.ac
@@ -65,7 +65,11 @@ init:
 demo:
 	$(SUPERVISION)
 
-all_ac_h: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(SETTINGS_H) $(TUNING_H) $(MAKEFILE_AC) $(PERIODIC_H) $(MODULES_H)
+all_ac_h: $(AIRFRAME_H) $(SETTINGS_H) $(TUNING_H) $(MAKEFILE_AC) $(PERIODIC_H) $(MODULES_H)
+
+radio_ac_h : $(RADIO_H)
+
+flight_plan_ac_h : $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML)
 
 makefile_ac: $(MAKEFILE_AC)
 
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index a3a04bddfb..61e83f3de9 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -38,7 +38,9 @@
 #include <inttypes.h>
 
 #include "std.h"
+#if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1
 #include "radio.h"
+#endif
 #include "paparazzi.h"
 #include "airframe.h"
 #include "radio_control.h"
diff --git a/sw/lib/ocaml/env.ml b/sw/lib/ocaml/env.ml
index 00d82ef778..11d86aec7d 100644
--- a/sw/lib/ocaml/env.ml
+++ b/sw/lib/ocaml/env.ml
@@ -54,8 +54,7 @@ let gcs_icons_path = paparazzi_home // "data" // "pictures" // "gcs_icons"
 
 let expand_ac_xml = fun ac_conf ->
   let prefix = fun s -> sprintf "%s/conf/%s" paparazzi_home s in
-  let parse = fun a ->
-    let file = prefix (ExtXml.attrib ac_conf a) in
+  let parse_file = fun a file ->
     try
       Xml.parse_file file
     with
@@ -66,10 +65,19 @@ let expand_ac_xml = fun ac_conf ->
 	let s = Xml.error e in
 	prerr_endline (sprintf "Parse error in %s: %s" file s);
 	make_element "cannot_parse" ["file",file;"error", s] [] in
-  let fp = parse "flight_plan"
-  and af = parse "airframe"
-  and rc = parse "radio"
-  and st = parse "settings"
-  and tm = parse "telemetry" in
-  let children = Xml.children ac_conf@[fp; af; rc; st; tm] in
+
+  let parse = fun a ->
+    let file = prefix (ExtXml.attrib ac_conf a) in
+    parse_file a file in
+
+  let parse_opt = fun a others ->
+    try
+      parse a :: others
+    with
+      ExtXml.Error _ -> others in
+
+  let pervasives = [parse "airframe"; parse "settings"; parse "telemetry"] in
+  let optionals = parse_opt "radio" (parse_opt "flight_plan" pervasives) in
+
+  let children = Xml.children ac_conf@optionals in
   make_element (Xml.tag ac_conf) (Xml.attribs ac_conf) children
diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml
index ae3f030c2b..e270dc236a 100644
--- a/sw/tools/gen_aircraft.ml
+++ b/sw/tools/gen_aircraft.ml
@@ -3,7 +3,7 @@
  *
  * Call to Makefile.ac with the appropriate attributes from conf.xml
  *  
- * Copyright (C) 2003-2008 Pascal Brisset, Antoine Drouin, ENAC
+ * Copyright (C) 2003-2009 Pascal Brisset, Antoine Drouin, ENAC
  *
  * This file is part of paparazzi.
  *
@@ -36,7 +36,8 @@ let mkdir = fun d ->
     Unix.mkdir d 0o755
 
 let check_unique_id = fun conf ->
-  let ids = Hashtbl.create 5 in
+  let ids = Hashtbl.create 5
+  and names = Hashtbl.create 5 in
   List.iter
     (fun x -> 
       if String.lowercase (Xml.tag x) = "aircraft" then 
@@ -46,10 +47,17 @@ let check_unique_id = fun conf ->
 	  let other_name = Hashtbl.find ids id in
 	  failwith (sprintf "Error: A/C Id '%s' duplicated in %s (%s and %s)" id conf_xml name other_name)
 	end;
-	Hashtbl.add ids id name)
+	if Hashtbl.mem names name then begin
+	  let other_id = Hashtbl.find names name in
+	  failwith (sprintf "Error: A/C name '%s' duplicated in %s (ids %s and %s)" name conf_xml id other_id)
+	end;
+	Hashtbl.add ids id name;
+	Hashtbl.add names name id)
     (Xml.children conf)
 
-let _ =
+
+
+let () =
   if Array.length Sys.argv <> 2 then
     failwith (sprintf "Usage: %s <A/C ident (conf.xml)>" Sys.argv.(0));
   let aircraft = Sys.argv.(1) in
@@ -97,8 +105,8 @@ let _ =
   Printf.fprintf f "%s\n" md5sum;
   close_out f;
   
-  let make = fun target ->
-    let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s RADIO=%s FLIGHT_PLAN=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s" aircraft (value "ac_id") (value "airframe") (value "radio") (value "flight_plan") (value "telemetry") settings md5sum target in
+  let make = fun target options ->
+    let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s %s" aircraft (value "ac_id") (value "airframe") (value "telemetry") settings md5sum options target in
     prerr_endline c;
     begin (** Quiet is speficied in the Makefile *)
       try if Sys.getenv "Q" <> "@" then raise Not_found with
@@ -107,5 +115,15 @@ let _ =
     let returned_code = Sys.command c in
     if returned_code <> 0 then
       exit returned_code in
-  make "makefile_ac";
-  make "all_ac_h"
+
+  let make_opt = fun target var attr ->
+    try
+      let value = Xml.attrib aircraft_xml attr in
+      make target (sprintf "%s=%s" var value)
+    with
+      Xml.No_attribute _ -> () in
+
+  make "makefile_ac" "";
+  make "all_ac_h" "";
+  make_opt "radio_ac_h" "RADIO" "radio";
+  make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan"